1 files changed, 42 insertions, 18 deletions

diff --git a/scene/3d/navigation_agent_3d.cpp b/scene/3d/navigation_agent_3d.cpp
index 3752713d6a..39068fe83c 100644
--- a/scene/3d/navigation_agent_3d.cpp
+++ b/scene/3d/navigation_agent_3d.cpp
@@ -53,8 +53,8 @@ void NavigationAgent3D::_bind_methods() {
 	ClassDB::bind_method(D_METHOD("set_ignore_y", "ignore"), &NavigationAgent3D::set_ignore_y);
 	ClassDB::bind_method(D_METHOD("get_ignore_y"), &NavigationAgent3D::get_ignore_y);
 
-	ClassDB::bind_method(D_METHOD("set_neighbor_dist", "neighbor_dist"), &NavigationAgent3D::set_neighbor_dist);
-	ClassDB::bind_method(D_METHOD("get_neighbor_dist"), &NavigationAgent3D::get_neighbor_dist);
+	ClassDB::bind_method(D_METHOD("set_neighbor_distance", "neighbor_distance"), &NavigationAgent3D::set_neighbor_distance);
+	ClassDB::bind_method(D_METHOD("get_neighbor_distance"), &NavigationAgent3D::get_neighbor_distance);
 
 	ClassDB::bind_method(D_METHOD("set_max_neighbors", "max_neighbors"), &NavigationAgent3D::set_max_neighbors);
 	ClassDB::bind_method(D_METHOD("get_max_neighbors"), &NavigationAgent3D::get_max_neighbors);
@@ -101,7 +101,7 @@ void NavigationAgent3D::_bind_methods() {
 	ADD_GROUP("Avoidance", "");
 	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "avoidance_enabled"), "set_avoidance_enabled", "get_avoidance_enabled");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "radius", PROPERTY_HINT_RANGE, "0.1,100,0.01,suffix:m"), "set_radius", "get_radius");
-	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_dist", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:m"), "set_neighbor_dist", "get_neighbor_dist");
+	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "neighbor_distance", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:m"), "set_neighbor_distance", "get_neighbor_distance");
 	ADD_PROPERTY(PropertyInfo(Variant::INT, "max_neighbors", PROPERTY_HINT_RANGE, "1,10000,1"), "set_max_neighbors", "get_max_neighbors");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "time_horizon", PROPERTY_HINT_RANGE, "0.01,100,0.01,suffix:s"), "set_time_horizon", "get_time_horizon");
 	ADD_PROPERTY(PropertyInfo(Variant::FLOAT, "max_speed", PROPERTY_HINT_RANGE, "0.1,10000,0.01,suffix:m/s"), "set_max_speed", "get_max_speed");
@@ -179,12 +179,19 @@ void NavigationAgent3D::_notification(int p_what) {
 
 NavigationAgent3D::NavigationAgent3D() {
 	agent = NavigationServer3D::get_singleton()->agent_create();
-	set_neighbor_dist(50.0);
+	set_neighbor_distance(50.0);
 	set_max_neighbors(10);
 	set_time_horizon(5.0);
 	set_radius(1.0);
 	set_max_speed(10.0);
 	set_ignore_y(true);
+
+	// Preallocate query and result objects to improve performance.
+	navigation_query = Ref<NavigationPathQueryParameters3D>();
+	navigation_query.instantiate();
+
+	navigation_result = Ref<NavigationPathQueryResult3D>();
+	navigation_result.instantiate();
 }
 
 NavigationAgent3D::~NavigationAgent3D() {
@@ -291,9 +298,9 @@ void NavigationAgent3D::set_ignore_y(bool p_ignore_y) {
 	NavigationServer3D::get_singleton()->agent_set_ignore_y(agent, ignore_y);
 }
 
-void NavigationAgent3D::set_neighbor_dist(real_t p_dist) {
-	neighbor_dist = p_dist;
-	NavigationServer3D::get_singleton()->agent_set_neighbor_dist(agent, neighbor_dist);
+void NavigationAgent3D::set_neighbor_distance(real_t p_distance) {
+	neighbor_distance = p_distance;
+	NavigationServer3D::get_singleton()->agent_set_neighbor_distance(agent, neighbor_distance);
 }
 
 void NavigationAgent3D::set_max_neighbors(int p_count) {
@@ -330,6 +337,8 @@ Vector3 NavigationAgent3D::get_target_location() const {
 
 Vector3 NavigationAgent3D::get_next_location() {
 	update_navigation();
+
+	const Vector<Vector3> &navigation_path = navigation_result->get_path();
 	if (navigation_path.size() == 0) {
 		ERR_FAIL_COND_V_MSG(agent_parent == nullptr, Vector3(), "The agent has no parent.");
 		return agent_parent->get_global_transform().origin;
@@ -338,6 +347,10 @@ Vector3 NavigationAgent3D::get_next_location() {
 	}
 }
 
+const Vector<Vector3> &NavigationAgent3D::get_nav_path() const {
+	return navigation_result->get_path();
+}
+
 real_t NavigationAgent3D::distance_to_target() const {
 	ERR_FAIL_COND_V_MSG(agent_parent == nullptr, 0.0, "The agent has no parent.");
 	return agent_parent->get_global_transform().origin.distance_to(target_location);
@@ -358,6 +371,8 @@ bool NavigationAgent3D::is_navigation_finished() {
 
 Vector3 NavigationAgent3D::get_final_location() {
 	update_navigation();
+
+	const Vector<Vector3> &navigation_path = navigation_result->get_path();
 	if (navigation_path.size() == 0) {
 		return Vector3();
 	}
@@ -383,8 +398,8 @@ void NavigationAgent3D::_avoidance_done(Vector3 p_new_velocity) {
 	emit_signal(SNAME("velocity_computed"), p_new_velocity);
 }
 
-TypedArray<String> NavigationAgent3D::get_configuration_warnings() const {
-	TypedArray<String> warnings = Node::get_configuration_warnings();
+PackedStringArray NavigationAgent3D::get_configuration_warnings() const {
+	PackedStringArray warnings = Node::get_configuration_warnings();
 
 	if (!Object::cast_to<Node3D>(get_parent())) {
 		warnings.push_back(RTR("The NavigationAgent3D can be used only under a Node3D inheriting parent node."));
@@ -406,24 +421,26 @@ void NavigationAgent3D::update_navigation() {
 
 	update_frame_id = Engine::get_singleton()->get_physics_frames();
 
-	Vector3 o = agent_parent->get_global_transform().origin;
+	Vector3 origin = agent_parent->get_global_transform().origin;
 
 	bool reload_path = false;
 
 	if (NavigationServer3D::get_singleton()->agent_is_map_changed(agent)) {
 		reload_path = true;
-	} else if (navigation_path.size() == 0) {
+	} else if (navigation_result->get_path().size() == 0) {
 		reload_path = true;
 	} else {
 		// Check if too far from the navigation path
 		if (nav_path_index > 0) {
+			const Vector<Vector3> &navigation_path = navigation_result->get_path();
+
 			Vector3 segment[2];
 			segment[0] = navigation_path[nav_path_index - 1];
 			segment[1] = navigation_path[nav_path_index];
 			segment[0].y -= navigation_height_offset;
 			segment[1].y -= navigation_height_offset;
-			Vector3 p = Geometry3D::get_closest_point_to_segment(o, segment);
-			if (o.distance_to(p) >= path_max_distance) {
+			Vector3 p = Geometry3D::get_closest_point_to_segment(origin, segment);
+			if (origin.distance_to(p) >= path_max_distance) {
 				// To faraway, reload path
 				reload_path = true;
 			}
@@ -431,24 +448,31 @@ void NavigationAgent3D::update_navigation() {
 	}
 
 	if (reload_path) {
+		navigation_query->set_start_position(origin);
+		navigation_query->set_target_position(target_location);
+		navigation_query->set_navigation_layers(navigation_layers);
+
 		if (map_override.is_valid()) {
-			navigation_path = NavigationServer3D::get_singleton()->map_get_path(map_override, o, target_location, true, navigation_layers);
+			navigation_query->set_map(map_override);
 		} else {
-			navigation_path = NavigationServer3D::get_singleton()->map_get_path(agent_parent->get_world_3d()->get_navigation_map(), o, target_location, true, navigation_layers);
+			navigation_query->set_map(agent_parent->get_world_3d()->get_navigation_map());
 		}
+
+		NavigationServer3D::get_singleton()->query_path(navigation_query, navigation_result);
 		navigation_finished = false;
 		nav_path_index = 0;
 		emit_signal(SNAME("path_changed"));
 	}
 
-	if (navigation_path.size() == 0) {
+	if (navigation_result->get_path().size() == 0) {
 		return;
 	}
 
 	// Check if we can advance the navigation path
 	if (navigation_finished == false) {
 		// Advances to the next far away location.
-		while (o.distance_to(navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) {
+		const Vector<Vector3> &navigation_path = navigation_result->get_path();
+		while (origin.distance_to(navigation_path[nav_path_index] - Vector3(0, navigation_height_offset, 0)) < path_desired_distance) {
 			nav_path_index += 1;
 			if (nav_path_index == navigation_path.size()) {
 				_check_distance_to_target();
@@ -462,7 +486,7 @@ void NavigationAgent3D::update_navigation() {
 }
 
 void NavigationAgent3D::_request_repath() {
-	navigation_path.clear();
+	navigation_result->reset();
 	target_reached = false;
 	navigation_finished = false;
 	update_frame_id = 0;